JP7012980B1 - Concrete compaction system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a concrete compaction system capable of compacting concrete while recognizing a position of a tip portion of a vibrator main body. SOLUTION: The terminal includes a vibrator body, a vibrator having a connection hose connected to the vibrator body, a terminal device attached to the connection hose, and a management device capable of communicating with the terminal device. The device or the management device has the captured image, the three-dimensional coordinate value of the terminal device, the posture information, an acquisition unit for acquiring the basic information of the vibrator, the three-dimensional coordinate value of the terminal device, and the posture information. And the calculation unit that calculates the three-dimensional coordinate value of the tip of the vibrator body based on the basic information of the vibrator, and the augmented reality image of the vibrator body based on the three-dimensional coordinate value of the tip of the vibrator body. It has an image generation unit that generates a superposed image in which the expanded reality image of the vibrator main body is superimposed on the captured image. [Selection diagram] FIG. 7

Description

Patent Law Article 30, Paragraph 2 Applicable Reiwa Published on the website of Ixis Co., Ltd. on October 27, 2

Application of Article 30, Paragraph 2 of the Patent Act Published in the pamphlet of Ixis Co., Ltd. issued on September 2, 3rd year of Reiwa.

The present invention relates to a concrete compaction system used for compaction of concrete.

Patent Documents 1 and 2 are disclosed as a technique for compacting concrete using an image.

According to the disclosure technique of Patent Document 1, the visual assist device for compaction of concrete generates an augmented reality image of the vibrator body based on the coordinate values of the vibrator body and the coordinate values of the head-mounted display, and projects the image onto the head-mounted display. It is equipped with a processing means, and the augmented reality image of the vibrator body is synthesized with the actual scene of the vibrator body, concrete, etc. visually recognized through the head-mounted display.

In the disclosure technique of Patent Document 2, a recognition body is attached to the vibrator, and the coordinate acquisition unit includes an object detection unit that detects the recognition body from the image of the captured data and a two-dimensional coordinate value of the detected recognition body. The image analysis unit is provided with an image analysis unit that measures the three-dimensional coordinate values from the above, and the image analysis unit converts the coordinates from the two-dimensional coordinate values of the recognizer into the coordinate values of the coordinate system obtained by converting the three-dimensional coordinate values of the coordinate system of the camera unit.

Japanese Unexamined Patent Publication No. 2019-35265 Japanese Patent No. 6781439

By the way, the disclosed technique of Patent Document 1 acquires the position of the vibrator body by a GPS unit built in the vibrator body. Therefore, in the technique disclosed in Patent Document 1, when the vibrator body is inserted into concrete, the GPS may be buried in the concrete and the position of the vibrator body may not be recognized. As a result, there is a problem that an image of the vibrator body cannot be generated and the operator cannot perform compaction while recognizing the position of the tip of the vibrator body through the head-mounted display.

Further, the disclosed technique of Patent Document 2 detects a recognition body attached to the vibrator main body by the camera unit, but does not generate an augmented reality image of the vibrator main body. Therefore, there is a problem that the operator cannot perform compaction while recognizing the position of the tip of the vibrator body. Further, in the technique disclosed in Patent Document 2, when the vibrator body is inserted into concrete, the recognition body is also buried in the concrete, so that the position of the vibrator body may not be recognized.

Therefore, the present invention has been devised in view of the above-mentioned problems, and an object thereof is concrete compaction capable of compacting concrete while recognizing the position of the tip portion of the vibrator main body. It is to provide the system.

The concrete compaction system according to the first invention is a concrete compaction system used for compacting concrete, and is a vibrator having a vibrator main body, a connecting hose connected to the vibrator main body, and a connecting hose. A terminal device to be attached and a management device capable of communicating with the terminal device are provided, the terminal device has at least a camera unit, a terminal information acquisition unit, and a display unit, and the camera unit photographs a construction site. The captured image J is acquired, the terminal information acquisition unit acquires the three-dimensional coordinate value of the terminal device and the attitude information of the terminal device, and the terminal device or the management device obtains the captured image and the terminal. The acquisition unit that acquires the three-dimensional coordinate value of the device, the attitude information, and the shape information of the vibrator body, the three-dimensional coordinate value of the terminal device, the attitude information, and the vibrator basic information. A calculation unit that calculates the three-dimensional coordinate value of the tip of the vibrator body based on the above, and an augmented reality image of the vibrator body based on the three-dimensional coordinate value of the tip of the vibrator body are generated. It has an image generation unit that generates a superposed image superimposed on the captured image, and the display unit displays the superposed image.

In the concrete compaction system according to the second invention, in the first invention, the camera unit recognizes an AR marker having a three-dimensional coordinate value of the first coordinate system, and the arithmetic unit has at least one AR marker. A second coordinate system is constructed based on the three-dimensional coordinate values of the first coordinate system of the above, and based on the three-dimensional coordinate values of the first coordinate system of the terminal device, the attitude information, and the vibrator basic information. Then, the three-dimensional coordinate value of the second coordinate system at the tip of the vibrator body is calculated, and the image generation unit calculates the three-dimensional coordinate value of the second coordinate system at the tip of the vibrator body. It is characterized by generating an augmented reality image of.

In the concrete compaction system according to the third invention, in the second invention, the calculation unit constructs a second coordinate system based on three-dimensional coordinate values of the first coordinate system of the AR marker at at least three places. It is a feature.

The concrete compaction system according to the fourth invention is characterized in that, in the second invention or the third invention, the AR marker is installed in a formwork in which concrete is placed.

In any one of the first to fourth inventions, the concrete compaction system according to the fifth invention has the acquisition unit as the tip of the actual vibrator body displayed in the superimposed image and the vibrator in the augmented reality image. The image generation unit is characterized in that it acquires deviation information regarding the deviation between the tip of the main body and the image generation unit, and generates a new augmented reality image of the vibrator main body based on the deviation information.

In the concrete compaction system according to the sixth invention, in any one of the first to fifth inventions, the terminal device or the management device has a section setting unit for partitioning a construction area into a plurality of small areas. The image generation unit is characterized in that an image of a plurality of small areas set by the section setting unit is generated, and the superimposed image in which the image of the small area is superimposed on the captured image is generated.

The concrete compaction system according to the seventh invention is the one of the first to the sixth inventions, wherein the terminal device or the management device has a section setting unit for dividing a construction area into a plurality of small areas and a vibrator main body. Further includes a compaction information generation unit that generates compaction information by the vibrator body in the small region based on the three-dimensional coordinate values of the tip portion of the image, and the image generation unit is based on the compaction information. It is characterized in that a compaction range image is generated and the superimposed image is generated by superimposing the compaction range image on the captured image.

In any one of the first to seventh inventions, the concrete compaction system according to the eighth aspect of the invention includes a mounting jig for attaching the terminal device to the connecting hose, and the mounting jig vibrates the terminal device. It is characterized by having a vibration-proof material that suppresses it.

According to the first to eighth inventions, when the vibrator body is inserted into the concrete, the terminal device is not buried in the concrete. Therefore, even when the vibrator body is inserted into the concrete, the three-dimensional coordinate value of the tip portion of the vibrator body can be calculated from the three-dimensional coordinate value of the terminal device, and the augmented reality image of the vibrator body is generated. Therefore, the operator can grasp the position of the tip portion of the vibrator body by visually recognizing the superimposed image K displayed on the display unit. As a result, concrete can be compacted while recognizing the position of the tip of the vibrator body.

FIG. 1 is a schematic diagram showing an example of the configuration of the concrete compaction system according to the first embodiment. FIG. 2 is a schematic diagram showing an example of the configuration of the terminal device according to the first embodiment. FIG. 3 is a schematic diagram showing an example of the function of the terminal device according to the first embodiment. FIG. 4 is a schematic diagram showing an example of the configuration of the management device according to the first embodiment. FIG. 5 is a schematic diagram showing an example of the function of the management device according to the first embodiment. 6 (a) is a schematic front view showing an example of a mounting jig attached to the terminal device according to the first embodiment, and FIG. 6 (b) is a schematic side view of FIG. 6 (a). FIG. 7 is a flowchart showing an example of the operation of the concrete compaction system according to the first embodiment. FIG. 8A is a schematic diagram showing the coordinate values of the tip of the vibrator body when the posture information α1 of the terminal device is used, and FIG. 8B is a schematic diagram of the vibrator body when the posture information α2 of the terminal device is used. It is a schematic diagram which shows the coordinate value of the tip part. FIG. 9 is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the first embodiment. FIG. 10 is a flowchart showing an example of the operation of the concrete compaction system according to the second embodiment. FIG. 11 is a schematic plan view showing a construction area. FIG. 12 (a) is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the third embodiment, FIG. 12 (b). Is a schematic diagram showing a display unit displaying an superimposed image in which an augmented reality image of a new augmented reality image is superimposed on an captured image in the concrete compaction system according to the third embodiment. FIG. 13 is a flowchart showing an example of the operation of the concrete compaction system according to the third embodiment. FIG. 14 is a schematic diagram showing an example of the vibrator according to the fourth embodiment. FIG. 15 is a schematic diagram showing an example of a control unit of the concrete compaction system according to the fourth embodiment. FIG. 16 (a) is a schematic diagram illustrating a method of specifying a small area when the small area is two-dimensional, and FIG. 16 (b) explains a method of specifying a small area when the small area is three-dimensional. It is a schematic diagram. FIG. 17 is a flowchart showing an example of the operation of the concrete compaction system according to the fourth embodiment. FIG. 18 is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the fourth embodiment. FIG. 19 is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the fourth embodiment. FIG. 20 is a schematic view showing a construction area displayed on the display unit of the management device.

Hereinafter, the concrete compaction system according to the embodiment of the present invention will be described in detail with reference to the drawings.

(First Embodiment)
FIG. 1 is a schematic diagram showing an example of the configuration of the concrete compaction system 100 according to the first embodiment. The concrete compaction system 100 is used for compaction of the concrete 80 placed in the formwork 81. The concrete compaction system 100 includes a vibrator 1, a terminal device 2, a management device 3, and a mounting jig 6.

The vibrator 1 includes a rod-shaped vibrator body 11 having a vibrating body, a flexible connecting hose 12 connected to the upper end of the vibrator body 11, and a power source 13 for supplying power to the vibrator body 11 through the connecting hose 12. , Equipped with. The vibrator 1 is inserted into the fresh concrete placed in the formwork, and the concrete can be compacted by the vibration of the vibrator main body 11.

FIG. 2 is a schematic diagram showing an example of the configuration of the terminal device 2 according to the first embodiment. The terminal device 2 is attached to the connecting hose 12 via the attachment jig 6. As the terminal device 2, a portable electronic device such as a smartphone or a tablet terminal is used. As shown in FIG. 2, the terminal device 2 includes, for example, a housing 20, a CPU (Central Processing Unit) 201, a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, and a storage unit 304. It includes I / F 205 to 209, a camera unit 211, a terminal information acquisition unit 212, an input unit 215, and a display unit 216. Each configuration 201 to 209 is connected by an internal bus 210.

The CPU 201 controls the entire terminal device 2. The ROM 202 stores the operation code of the CPU 201. The RAM 203 is a work area used when the CPU 201 is operating. The storage unit 204 stores various information such as a character string database. As the storage unit 204, for example, in addition to an SD memory card, a known data storage medium such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) is used.

The I / F 205 is a known interface for transmitting and receiving various information to and from the camera unit 211. The camera unit 211 generates a captured image J such as a moving image or a still image. The camera unit 211 recognizes an AR marker having three-dimensional coordinate values. The AR marker is installed at the top of the mold 81. The AR marker may be installed on the side surface of the mold 81.

The I / F 206 is a known interface for transmitting and receiving various information to and from the terminal information acquisition unit 212. The terminal information acquisition unit 212 includes a position information acquisition device 213 and an inertial measurement unit 214. The position information acquisition device 213 acquires the three-dimensional coordinate value of the primary coordinate system of the terminal device 2. The inertial measurement unit 214 acquires the attitude information of the terminal device 2. The inertial measurement unit 214 is equipped with various sensors such as an acceleration sensor, a rotation angle acceleration sensor, a gyro sensor, a magnetic field sensor, a pressure pressure sensor, and a temperature sensor. As a result, the inertial measurement unit 214 can acquire posture information such as the inclination of the terminal device 2. The position information acquisition device 213 is a known device that acquires the position information of the terminal device 2. For example, the position information acquisition device 213 calculates the distance to the feature points based on the image feature points acquired by the camera unit 211 and the attitude information such as the inclination of the terminal device 2 acquired by the inertial measurement unit 214. By doing so, the three-dimensional coordinate value of the terminal device 2 is acquired. For example, as the position information acquisition device 213, a GPS device may be used, or a three-dimensional coordinate value of the terminal device 2 may be acquired by the GPS device.

The I / F 207 is a known interface for transmitting and receiving various information to and from the input unit 215. The input unit 215 inputs or selects various information, control commands of the terminal device 2 and the management device 3, and the like. As the input unit 215, for example, a touch panel type display is used.

The I / F 208 is a known interface for transmitting and receiving various information to and from the display unit 216. The display unit 216 outputs various information stored in the storage unit 204, the processing status of the terminal device 2 and the management device 3, and the like. As the display unit 216, for example, a touch panel type display having the function of the input unit 215 is used.

The I / F 209 is a known interface for transmitting and receiving various information to and from an external device such as a management device 3 via a public communication network 4 such as the Internet.

As I / F205 to I / F209, for example, the same one may be used, and as each I / F205 to I / F209, for example, a plurality of ones may be used.

FIG. 3 is a schematic diagram showing an example of the function of the terminal device 2. The terminal device 2 includes an acquisition unit 21, a control unit 22, a storage unit 23, and an output unit 24. Each function shown in FIG. 3 is realized by the CPU 201 executing a program stored in the storage unit 204 or the like with the RAM 203 as a work area.

<Acquisition unit 21>
The acquisition unit 21 acquires various types of information. The acquisition unit 21 acquires the captured image J in which the construction site is photographed by the camera unit 211. The acquisition unit 21 acquires the three-dimensional coordinate value of the AR marker as the recognition result of the AR marker by the camera unit 211. The acquisition unit 21 acquires the three-dimensional coordinate value of the terminal device 2 by the position information acquisition device 213 of the terminal information acquisition unit 212. The acquisition unit 21 acquires the attitude information of the terminal device 2 by the inertial measurement unit 214 of the terminal information acquisition unit 212.

The acquisition unit 21 acquires the vibrator basic information by the input unit 215. The basic information of the vibrator includes the shape information of the vibrator main body 11, the information regarding the attachment position of the terminal device 2 to the connection hose 12, and the like. The shape information of the vibrator main body 11 includes length information from the terminal device 2 to the tip end portion 11a of the vibrator main body 11, information regarding the length of the vibrator main body 11, and information regarding the diameter of the vibrator main body 11.

<Control unit 22>
The control unit 22 controls the entire terminal device 2. The control unit 22 may have a control unit 32 described later.

<Memory unit 23>
The storage unit 23 stores various information in the storage unit 204, or retrieves various information from the storage unit 204.

<Output unit 24>
The output unit 24 displays various information on the display unit 216.

<Management device 3>
FIG. 4 is a schematic diagram showing an example of the configuration of the management device 3 according to the first embodiment. As the management device 3, an electronic device such as a personal computer, a smartphone, or a tablet terminal is used. The management device 3 includes, for example, a housing 30, a CPU 301, a ROM 302, a RAM 303, a storage unit 304, and I / F 307 to 309. Each configuration 301 to 304 and 307 to 309 are connected by an internal bus 310.

The CPU 301 controls the entire management device 3. The ROM 302 stores the operation code of the CPU 301. The RAM 303 is a work area used when the CPU 301 is operated. The storage unit 304 stores various information such as a character string database. As the storage unit 304, for example, in addition to an SD memory card, a known data storage medium such as an HDD or SSD is used.

The I / F 307 is a known interface for transmitting and receiving various information to and from the input unit 315. The input unit 315 inputs or selects various information, control commands of the terminal device 2 and the management device 3, and the like. As the input unit 315, for example, a keyboard, a touch panel type display, or the like is used.

The I / F 308 is a known interface for transmitting and receiving various information to and from the display unit 316. The display unit 316 outputs various information stored in the storage unit 304, the processing status of the terminal device 2 and the management device 3, and the like. As the display unit 316, for example, a display may be used, or a touch panel type display may be used.

The I / F 309 is a known interface for transmitting and receiving various information to and from an external device such as a management device 3 via a public communication network 4 such as the Internet.

As I / F307 to I / F309, for example, the same one may be used, and as each I / F307 to I / F309, for example, a plurality of ones may be used.

FIG. 5 is a schematic diagram showing an example of the function of the management device 3. The management device 3 includes an acquisition unit 31, a control unit 32, a storage unit 33, and an output unit 34. Each function shown in FIG. 5 is realized by the CPU 301 executing a program stored in the storage unit 304 or the like with the RAM 303 as a work area.

<Acquisition unit 31>
The acquisition unit 31 acquires various types of information. The acquisition unit 31 acquires the captured image J in which the construction site is photographed by the camera unit 211. The acquisition unit 31 acquires the three-dimensional coordinate value of the AR marker by the camera unit 211 via the public communication network 4. The acquisition unit 31 acquires the three-dimensional coordinate value of the terminal device 2 by the terminal information acquisition unit 212 via the public communication network 4. The acquisition unit 31 acquires the attitude information of the terminal device 2 by the terminal information acquisition unit 212 via the public communication network 4. The acquisition unit 31 acquires the shape information of the vibrator main body by the input unit 315 via the public communication network 4.

<Control unit 32>
The control unit 32 controls the entire management device 3. The control unit 32 includes a calculation unit 321 and an image generation unit 322.

<Calculation unit 321>
The calculation unit 321 calculates the three-dimensional coordinate value of the tip portion 11a of the vibrator main body 11 based on the three-dimensional coordinate value of the terminal device 2, the posture information of the terminal device 2, and the basic information of the vibrator.

<Image generation unit 322>
The image generation unit 322 generates an augmented reality image G of the vibrator body 11 based on the three-dimensional coordinate values of the tip portion 11a of the vibrator body 11, and superimposes the augmented reality image G of the vibrator body 11 on the captured image J. Generate image K.

<Memory unit 32>
The storage unit 32 stores various information in the storage unit 304, or retrieves various information from the storage unit 304.

<Output unit 34>
The output unit 34 displays various information on the display unit 316.

<Mounting jig 6>
As shown in FIG. 6, the mounting jig 6 mounts the terminal device 2 to the connecting hose 12. The mounting jig 6 includes a mounting portion 61 for mounting on the connection hose 12, a holding portion 62 for holding the terminal device 2, and an adjusting mechanism 63 capable of adjusting the mounting angle between the mounting portion 61 and the holding portion 62. Have. The mounting portion 61 is mounted by sandwiching the connecting hose 12. The holding unit 62 sandwiches and holds the terminal device 2. The adjusting mechanism 63 can fix the mounting angle between the mounting portion 61 and the holding portion 62 to a predetermined angle so that the tip portion 11a of the vibrator main body 11 is imaged by the camera portion 211 of the terminal device 2.

The mounting jig 6 has a vibration-proof material 64 that suppresses vibration of the terminal device 2. A nitrile-based rubber sponge is used as the vibration-proof material 64. The anti-vibration material 64 has a first anti-vibration material 64a that is attached to the attachment portion 61 and covers the periphery of the connecting hose 12, and a second anti-vibration material 64b that is attached to the holding portion 62. The first vibration-proof material 64a is composed of, for example, a thickness of about 1 cm. The second vibration-proof material 64b is composed of, for example, a thickness of about 2 cm. The second anti-vibration material 64b is provided on both sides of the terminal device 2, for example. Since the mounting jig 6 has the vibration-proof material 64 that suppresses the vibration of the terminal device 2, the cushioning function of the vibration-proof material 64 is exhibited, and the position information of the terminal 2 can be acquired more accurately.

<First Embodiment: An example of the operation of the concrete compaction system 100>
Next, an example of the operation of the concrete compaction system 100 according to the first embodiment will be described. FIG. 7 is a flowchart showing an example of the operation of the concrete compaction system 100 according to the first embodiment.

<Acquisition step S11>
The camera unit 211 acquires a captured image J in which the construction site is photographed. The terminal information acquisition unit 212 acquires the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2 and the posture information of the terminal device 2. The input unit 215 acquires the basic information of the vibrator. Then, the captured image J, the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, the posture information of the terminal device 2, and the basic information of the vibrator are transmitted from the terminal device 2 to the management device 3. Then, the acquisition unit 31 acquires the captured image J, the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, the posture information of the terminal device 2, and the basic information of the vibrator (acquisition step S11). ..

<Calculation step S12>
Next, the calculation unit 321 3 of the tip portion 11a of the vibrator main body 11 based on the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, the attitude information of the terminal device 2, and the basic information of the vibrator. The dimensional coordinate values (X1, Y1, Z1) are calculated (calculation step S12). Here, the terminal device 2 is attached to the connecting hose 12 via the attachment jig 6. Therefore, the three-dimensional coordinate values (X1, Y1, Z1) of the tip portion 11a of the vibrator main body 11 are affected by the posture of the terminal device 2, the shape of the vibrator main body 11, the attachment position of the terminal device 2 to the connection hose 12, and the like. Receive. Therefore, the calculation unit 321 acquires the attitude information and the basic information of the vibrator, and from the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, the three-dimensional coordinate values (X1) of the tip portion 11a of the vibrator main body 11. , Y1, Z1) can be calculated.

FIG. 8A is a schematic diagram showing the coordinate values of the tip of the vibrator body when the posture information α1 of the terminal device 2 is used, and FIG. 8B is a schematic diagram showing the coordinate values of the tip of the vibrator body when the posture information α1 of the terminal device 2 is used. It is a schematic diagram which shows the coordinate value of the tip part of a main body. For example, as shown in FIG. 8A, the calculation unit 321 includes three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, posture information α1 of the terminal device 2, and a tip portion of the vibrator body from the terminal device 2. When the length L up to 11a is set, the calculation is performed with the three-dimensional coordinate values (X1-1, Y1-1, Z1-1) of the tip portion 11a of the vibrator main body 11. For example, as shown in FIG. 8B, when the terminal device 2 changes from the posture information α1 to the posture information α2, the calculation unit 321 sets the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2 and the terminal device. When the posture information α2 of 2 and the length L from the terminal device 2 to the tip portion 11a of the vibrator body are set, the three-dimensional coordinate values (X1-2, Y1-2, Z1-2) of the tip portion 11a of the vibrator body 11 ).

<Image generation step S13>
Next, the image generation unit 322 generates an augmented reality image G of the vibrator body 11 based on the three-dimensional coordinate values (X1, Y1, Z1) of the tip portion 11a of the vibrator body 11 (image generation step S13). Then, the image generation unit 322 generates a superposed image K in which the generated augmented reality image G of the vibrator main body 11 is superimposed on the captured image J. The generated augmented reality image G of the vibrator main body 11 is superimposed on the vibrator main body 11 on the captured image J captured by the camera unit 211. The management device 3 transmits the augmented reality image G of the vibrator main body 11 and the superimposed image K superimposed on the captured image J to the terminal device 2.

<Display step S14>
FIG. 9 is a schematic view showing a display unit 216 displaying an superimposed image K in which an augmented reality image G of a vibrator main body is superimposed on an image captured image J in the concrete compaction system according to the first embodiment. Next, the display unit 216 displays the transmitted superimposed image K. As described above, the operation of the concrete compaction system 100 according to the first embodiment is completed.

According to the present embodiment, the terminal device 2 is attached to the connection hose 12, and the terminal device 2 or the management device 3 has three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, posture information, and a shape. A calculation unit 311 that calculates a three-dimensional coordinate value (X1, Y1, Z1) of the tip portion 11a of the vibrator body 11 based on the information, and a three-dimensional coordinate value (X1, Y1, It has an image generation unit 322 that generates an extended reality image G of the vibrator main body 11 based on Z1), and generates a superposed image K superimposed on the captured image J, and displays the extended real image G of the vibrator main body 11. The unit 216 displays the superimposed image K.

As a result, when the vibrator body 11 is inserted into the concrete, the terminal device 2 is not buried in the concrete. Therefore, even when the vibrator main body 11 is inserted into the concrete, the three-dimensional coordinate values (X1, Y1) of the tip portion 11a of the vibrator main body 11 can be obtained from the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2. , Z1) can be calculated, and the augmented reality image G of the vibrator main body 11 is generated. Therefore, the operator can grasp the position of the tip portion 11a of the vibrator main body 11 by visually recognizing the superimposed image K displayed on the display unit 216. As a result, the concrete can be compacted while recognizing the position of the tip portion 11a of the vibrator main body 11.

According to the present embodiment, the management device 3 has 3 of the tip portion 11a of the vibrator main body 11 based on the three-dimensional coordinate values (X0, Y0, Z0) of the terminal device 2, the posture information, and the basic information of the vibrator. An augmented reality image G of the vibrator body 11 is generated based on the calculation unit 311 that calculates the three-dimensional coordinate values (X1, Y1, Z1) and the three-dimensional coordinate values (X1, Y1, Z1) at the tip of the vibrator body 11. It also has an image generation unit 322 that generates a superposed image K in which the expanded reality image G of the vibrator main body 11 is superimposed on the captured image J. As a result, it is not necessary for the terminal device 2 to perform the processing operations of the calculation unit 321 and the image generation unit 322. Therefore, the terminal device 2 can be miniaturized.

(Second Embodiment)
Next, the concrete compaction system 100 according to the second embodiment will be described. Hereinafter, detailed description of the same configuration as that of the above-described embodiment will be omitted.

In the concrete compaction system 100 according to the second embodiment, the second coordinate system is constructed by using the AR marker having the three-dimensional coordinate values of the first coordinate system, and the second coordinate system of the tip portion 11a of the vibrator main body 11 is constructed. Calculate the coordinate values. As a result, the position of the tip portion 11a of the vibrator main body 11 can be calculated accurately.

<Calculation unit 321>
The calculation unit 321 constructs a second coordinate system based on the three-dimensional coordinate values of the first coordinate system of at least three AR markers. The calculation unit 321 refers to the second coordinate system, and based on the three-dimensional coordinate values of the first coordinate system of the terminal device 2, the attitude information, and the basic information of the vibrator, the first portion 11a of the tip portion 11a of the vibrator main body 11 Calculates the three-dimensional coordinate values of the two-coordinate system. The calculation unit 321 may construct a second coordinate system based on the three-dimensional coordinate values of the first coordinate system of the AR marker at at least one place.

<Image generation unit 322>
The image generation unit 322 generates an augmented reality image G of the vibrator body 11 based on the three-dimensional coordinate values of the second coordinate system of the vibrator body 11, and superimposes the augmented reality image G of the vibrator body 11 on the captured image J. Generate the superimposed image K.

<Second Embodiment: An example of the operation of the concrete compaction system 100>
Next, an example of the operation of the concrete compaction system 100 according to the second embodiment will be described. FIG. 10 is a flowchart showing an example of the operation of the concrete compaction system 100 according to the second embodiment.

<Acquisition step S21>
The acquisition unit 31 acquires the captured image J, the three-dimensional coordinate values (X0, Y0, Z0) of the first coordinate system of the terminal device 2, the posture information of the terminal device 2, and the shape information of the vibrator main body 11. (Acquisition step S21).

FIG. 11 is a plan view showing a construction area W in the concrete compaction system according to the second embodiment. In the acquisition step S21, the camera unit 211 recognizes the AR marker. The AR marker is installed in the vicinity of the construction area W or in the formwork 81, and has a three-dimensional coordinate value of the first coordinate system of the installation location. The camera unit 211 recognizes at least one AR marker, preferably three or more AR markers. The terminal device 2 transmits the recognition result recognized by the camera unit 211 to the management device 3. The acquisition unit 31 acquires the recognition result of the AR marker having the three-dimensional coordinate value of the first coordinate system. The AR marker may be installed in the formwork in which the concrete is placed. This makes it possible to construct a coordinate system along the formwork.

For example, AR markers M1, M2, and M3 are installed at three locations on the top of the mold 81. In the first coordinate system, the AR marker M1 is a three-dimensional coordinate value (X3, Y3, Z3), the AR marker M2 is a three-dimensional coordinate value (X4, Y4, Z4), and the AR marker M3 is 3. It is assumed that it is a three-dimensional coordinate value (X5, Y5, Z5). The camera unit 211 recognizes each of the AR markers M1, M2, and M3, and the terminal device 2 transmits these recognition results to the management device 3 and causes the acquisition unit 31 to acquire them.

<Calculation step S22>
The calculation unit 321 constructs a second coordinate system based on the three-dimensional coordinate values of the first coordinate system of the three AR markers (calculation step S22).

For example, the calculation unit 321 sets the three-dimensional coordinate value (X3, Y3, Z3) of the first coordinate system of the AR marker M1 as the three-dimensional coordinate value (0, 0, 0) of the second coordinate system, and sets the AR marker M2. The 3D coordinate values (X4, Y4, Z4) of the 1st coordinate system are set as the 3D coordinate values (P4, Q4, R4) of the 2nd coordinate system, and the 3D coordinate values (X5) of the 1st coordinate system of the AR marker M3. , Y5, Z5) are set as the three-dimensional coordinate values (P5, Q5, R5) of the second coordinate system, and a second coordinate system is constructed.

The second coordinate system can be constructed with only one AR marker, but by recognizing at least three AR markers, it is possible to reduce the error in the coordinate values of the second coordinate system.

Then, the calculation unit 321 refers to the constructed second coordinate system, and is based on the three-dimensional coordinate values (X0, Y0, Z0) of the first coordinate system of the terminal device 2, the attitude information, and the basic vibrator information. , Generates three-dimensional coordinate values (P1, Q1, R1) of the second coordinate system of the tip portion 11a of the vibrator main body 11.

<Image generation step S23>
Next, the image generation unit 322 generates an augmented reality image G of the vibrator body 11 based on the three-dimensional coordinate values (P1, Q1, R1) of the second coordinate system of the tip portion 11a of the vibrator body 11 (image generation). Step S13). Then, the image generation unit 322 generates a superposed image K in which the generated augmented reality image G of the vibrator main body 11 is superimposed on the captured image J. The superimposed image K in which the augmented reality image G of the vibrator main body 11 is superimposed on the captured image J is transmitted from the management device 3 to the terminal device 2.

<Display step S24>
Next, the display unit 216 displays the superimposed image K generated in the image generation step S23. As described above, the operation of the concrete compaction system 100 according to the second embodiment is completed.

According to the present embodiment, the camera unit 211 recognizes the AR marker having the three-dimensional coordinate value of the first coordinate system, and the calculation unit 321 recognizes the three-dimensional coordinate value of the first coordinate system of the AR marker at at least one place. A second coordinate system is constructed based on the above, three-dimensional coordinate values (P1, Q1, R1) of the second coordinate system of the tip portion 11a of the vibrator main body 11 are generated, and the image generation unit 322 is the first of the vibrator main body 11. The augmented reality image G of the vibrator body 11 is generated based on the three-dimensional coordinate values (P1, Q1, R1) of the two-coordinate system, and the superimposed image K in which the augmented reality image G of the vibrator body 11 is superimposed on the captured image J is generated. Generate.

As a result, the three-dimensional coordinate values (P1, Q1, R1) of the second coordinate system can be obtained as compared with the case of using the three-dimensional coordinate values (X1, Y1, Z1) of the first coordinate system of the tip portion 11a of the vibrator main body 11. By using it, the position of the tip portion 11a of the vibrator main body 11 can be calculated more accurately. Therefore, the operator can more accurately grasp the position of the tip portion 11a of the vibrator main body 11 by visually recognizing the superimposed image K displayed on the display unit 216. As a result, the concrete can be compacted while recognizing the position of the tip portion 11a of the vibrator main body 11.

The AR marker is installed in the vicinity of the construction area W or in the formwork 81 on which concrete is placed. However, there is a possibility that the three-dimensional coordinate value of the AR marker and the three-dimensional coordinate value of the place where the AR marker is actually installed may be different from each other. Therefore, when the second coordinate system is constructed by recognizing one AR marker, the error accumulates as the distance from the AR marker increases, and the error of the coordinate value of the second coordinate system may increase. In this regard, according to the present embodiment, the camera unit 211 recognizes the AR marker having the three-dimensional coordinate value of the first coordinate system, and the calculation unit 321 is based on the three-dimensional coordinate value of the AR marker at at least three places. To construct augmented reality 3D coordinates. As a result, a second coordinate system can be constructed in consideration of the positional relationship between the AR markers, so that an error in the coordinate values of the second coordinate system can be reduced. Therefore, the operator can more accurately grasp the position of the tip portion 11a of the vibrator main body 11 by visually recognizing the superimposed image K displayed on the display unit 216. As a result, the concrete can be compacted while recognizing the position of the tip portion 11a of the vibrator main body 11.

Further, when calculating the three-dimensional coordinate value of the tip of the vibrator body, it is possible to reduce the load of the calculation process by performing the calculation in the second coordinate system rather than in the first coordinate system.

Further, in the present embodiment, the AR marker is installed in a formwork in which concrete is placed. Here, for example, if a model is constructed in advance and an attempt is made to match the model with the local coordinates, it takes time and effort to measure the model by a predetermined surveying means and determine the direction. In this respect, in the present embodiment, the second coordinate system can be constructed by the AR marker installed on the mold. For this reason, it is possible to match with local information at the same time.

(Third Embodiment)
Next, the concrete compaction system 100 according to the third embodiment will be described.

FIG. 12A is a schematic view showing a display unit 216 displaying an superimposed image K in which an augmented reality image G1 of a vibrator main body is superimposed on an image captured image J in the concrete compaction system 100 according to the third embodiment. The vibrator main body 11 is connected to a flexible connecting hose 12, and the terminal device 2 is attached to the connecting hose 12 by a mounting jig 6. Therefore, when the superimposed image K is displayed on the display unit 216 depending on the degree of bending of the connecting hose 12, the mounting position of the terminal device 2 on the connecting hose 12, the mounting angle of the mounting tool 6, etc., the vibrator main body of the captured image J is displayed. There may be a gap between the tip portion 11a of 11 and the tip portion 11a of the vibrator body 11 of the augmented reality image G. In the concrete compaction system 100 according to the third embodiment, this deviation can be corrected.

<Acquisition unit 31>
The acquisition unit 31 acquires the deviation information between the tip portion 11a of the vibrator main body 11 displayed on the captured image J and the tip portion 11a of the vibrator main body 11 of the augmented reality image.

<Calculation unit 321>
The calculation unit 321 calculates the three-dimensional coordinate value of the tip portion 11a of the new vibrator main body 11 based on the deviation information.

<Image generation unit 322>
The image generation unit 322 generates a new augmented reality image G2 of the vibrator main body 11 based on the three-dimensional coordinate values of the terminal device 2, the attitude information of the terminal device 2, the basic vibrator information, and the deviation information. , A superposed image K is generated by superimposing the augmented reality image G2 on the captured image J. The image generation unit 322 may generate an augmented reality image G2 of the new vibrator body 11 based on the three-dimensional coordinate values of the tip portion 11a of the new vibrator body 11 calculated based on the deviation information.

<Memory unit 32>
The storage unit 33 updates and stores the vibrator basic information used for generating the augmented reality image G1 with new vibrator basic information in consideration of the deviation information.

<Third Embodiment: An example of the operation of the concrete compaction system 100>
Next, an example of the operation of the concrete compaction system 100 according to the third embodiment will be described. FIG. 13 is a flowchart showing an example of the operation of the concrete compaction system 100 according to the third embodiment.

In an example of the operation of the concrete compaction system 100 according to the third embodiment, for example, the above-mentioned acquisition step S21, calculation step S22, image generation step S23, and display step S24 are performed.

<Acquisition step S35>
After the display step S24, the acquisition unit 31 acquires the deviation information between the tip portion 11a of the vibrator main body 11 of the captured image J and the tip portion of the vibrator main body of the augmented reality image G1 (acquisition step S35).

As shown in FIG. 12A, for example, the operator slides the vibrator body of the augmented reality image G1 with the operator's finger on the touch panel type display unit 216 provided with the input unit 215. As a result, the acquisition unit 21 acquires the deviation information between the tip portion 11a of the actual vibrator body 11 displayed on the superimposed image K and the tip portion 11a of the vibrator body 11 of the augmented reality image G1. The deviation information acquired by the terminal device 2 is transmitted to the management device 3, and the acquisition unit 31 is made to acquire the deviation information. At this time, at least one of the storage unit 23 and the storage unit 33 updates and stores the vibrator basic information used for generating the augmented reality image G1 with new vibrator basic information in consideration of the deviation information.

<Image generation step S36>
The image generation unit 322 generates a new augmented reality image G2 of the vibrator main body 11 based on the deviation information, and generates a superposed image K in which the augmented reality image G2 is superimposed on the captured image J.

<Display step S37>
FIG. 12B is a schematic view showing a display unit 216 displaying an superimposed image K in which an augmented reality image G2 of a vibrator main body is superimposed on an image captured image J in the concrete compaction system 100 according to the third embodiment. Next, the display unit 216 displays the superimposed image K generated in the image generation step S36.

For example, in the touch panel type display unit 216 provided with the input unit 215, by sliding the vibrator body of the augmented reality image G1 with the operator's finger, it is superimposed on the actual vibrator body 11 displayed on the superimposed image K. The augmented reality image G2 of the vibrator body corrected as described above is generated, and the superimposed image K in which the augmented reality image G2 is superimposed on the captured image J is generated. As described above, the operation of the concrete compaction system 100 according to the third embodiment is completed.

According to the present embodiment, the acquisition unit 31 acquires the deviation information between the tip portion 11a of the vibrator main body 11 of the captured image J and the tip portion 11a of the vibrator main body 11 of the augmented reality image G1, and the image generation unit 322 acquires the deviation information. , A new augmented reality image G2 of the vibrator body is generated based on the deviation information. As a result, even if there is a deviation between the tip portion 11a of the vibrator main body 11 of the captured image J and the tip portion 11a of the vibrator main body 11 of the augmented reality image G1, this deviation can be corrected. Therefore, the operator can more accurately grasp the position of the tip portion 11a of the vibrator main body 11 by visually recognizing the superimposed image K displayed on the display unit 216. As a result, the concrete can be compacted while recognizing the position of the tip portion 11a of the vibrator main body 11.

According to the present embodiment, at least one of the storage unit 23 and the storage unit 33 updates and stores the vibrator basic information used for generating the augmented reality image G1 with new vibrator basic information in consideration of the deviation information. do. As a result, it is not necessary to correct the deviation between the tip portion 11a of the actual vibrator body 11 displayed on the superimposed image K and the tip portion of the vibrator body of the augmented reality image G1. Therefore, the worker can easily perform the concrete compaction work.

(Fourth Embodiment)
Next, the concrete compaction system 100 according to the fourth embodiment will be described. In the concrete compaction system 100 according to the fourth embodiment, the construction area is divided into small areas, and the compaction range image I is generated based on the compaction information generated for each small area, and the compaction range image I is generated. Is superimposed on the captured image J to generate a superimposed image K. As a result, the operator can grasp whether or not the concrete is sufficiently compacted in the target small area through the superimposed image K.

FIG. 14 is a schematic diagram showing the vibrator 1 according to the fourth embodiment. FIG. 15 is a schematic diagram showing the control unit 32 according to the fourth embodiment. In the concrete compaction system 100 according to the fourth embodiment, the vibrator 1 further includes a pull-out detection unit 14 and a control unit 15. The control unit 32 of the management device 3 further includes a section setting unit 324 and a compaction information generation unit 325. The control unit 22 of the terminal device 2 may further include a section setting unit 324 and a compaction information generation unit 325.

The pull-out detection unit 14 detects that the vibrator main body 11 has been inserted into the concrete, and detects that the vibrator main body 11 has been pulled out of the concrete. The pull-out detection unit 14 has, for example, a sensor having two electrodes. One of the two electrodes of the sensor is on the surface on the tip side of the vibrator body 11 that is inserted into and removed from the concrete, and the other electrode is not on the surface of the vibrator body 11 but on the control unit 15 at a sufficient distance from one electrode. Are placed and arranged respectively.

The control unit 15 controls the power supply from the power source 13 to the vibrator main body 11. The sensor is, for example, a current detection unit that detects a current flowing between two electrodes in the insertion / removal detection unit 14, and a supply control unit that supplies power to the power source 13 when a current detection signal from the current detection unit is received. And have. The power supply to the power source 13 is when the vibrator main body 11 is inserted into the concrete and the tip portion 11a of the vibrator main body 11 reaches a coordinate value lower in the height direction than a predetermined coordinate value set in advance. It will be started. The power supply to the power source 13 is automatically stopped when the drawing is completed.

<Division setting unit 324>
The section setting unit 324 divides the construction area into a plurality of small areas in the first coordinate system or the second coordinate system. The small area may be divided into a two-dimensional shape such as a rectangular shape, or may be divided into a three-dimensional shape such as a cube shape or a rectangular parallelepiped shape.

<Compacting information generation unit 325>
The compaction information generation unit 325 specifies a small area to be compacted based on the three-dimensional coordinate values of the tip portion 11a of the vibrator body 11, and generates compaction information by the vibrator body 11 for the specified small area. ..

FIG. 16 (a) is a schematic diagram illustrating a method of specifying a small area when the small area is two-dimensional, and FIG. 16 (b) explains a method of specifying a small area when the small area is three-dimensional. It is a schematic diagram. When the small area is two-dimensional, the compaction information generation unit 325 refers to the small area including (P1, Q1) among the three-dimensional coordinate values (P1, Q1, R1) of the tip portion 11a of the vibrator main body 11. Generate compaction information. When the small area is three-dimensional, the coordinate value R1'is above the coordinate value R1 in the height direction by a predetermined distance D from the three-dimensional coordinate value (P1, Q1, R1) of the tip portion 11a of the vibrator main body 11. , The compaction information generation unit 325 generates compaction information for a small area including three-dimensional coordinate values (P1, Q1, R1'). The distance D is appropriately set according to, for example, the shape of the vibrator main body 11, and may be, for example, the distance from the tip end 11a of the vibrator main body 11 to the center of the vibrator main body 11 in the length direction.

The compaction information generation unit 325 may determine whether or not the concrete is sufficiently compacted by the vibrator main body 11 for each small area, and may generate compaction information including the determination result.

The compaction information generation unit 325 may have a timekeeping unit 326. The timekeeping unit 326 counts the elapsed time from the start of vibration application by the vibrator main body 11 for a small area. The timing unit 326 detected that the vibrator main body 11 was inserted into the concrete by the pull-out detection unit 14 and that the tip portion 11a of the vibrator main body reached the lower coordinate value in the height direction than the preset coordinate value. Sometimes count the elapsed time. The timekeeping unit 326 stops counting the progress when the insertion / removal detection unit 14 detects that the vibrator main body 11 has been pulled out from the concrete.

The compaction information generation unit 325 determines, for example, based on a preset compaction time required for compaction and an elapsed time counted by the timekeeping unit 326. As for the determination result, when the elapsed time is longer than the compaction time, it is determined that the compaction is completed, and when the elapsed time is less than the compaction time, it is determined that the compaction is not completed. The determination result may express the elapsed time with respect to the compaction time as the degree of compaction of concrete, for example, as a percentage. When the compaction is not completed, the elapsed time is recounted from 0 seconds for the area where the compaction is not completed. When the compaction is not completed, the elapsed time may be accumulated and counted for the area where the compaction is not completed.

<Image generation unit 322>
The image generation unit 322 generates an image N of a plurality of small areas set by the partition setting unit 324, and generates a superposed image K in which the image N of the small area is superimposed on the captured image J. The image N is generated as an augmented reality image. The image N of the small area is displayed two-dimensionally. The image N in the small area may be displayed three-dimensionally.

Further, the image generation unit 322 generates a compaction range image I based on the compaction information, and generates a superposed image K in which the compaction range image I is superimposed on the captured image J. The image generation unit 322 generates a compaction range image I in which a small area is represented by a predetermined color based on the compaction information. The compaction range image I may include an image of the elapsed time measured by the time measuring unit 326 and an image of the degree of compaction of concrete. The compaction range image I is an augmented reality image, and the coloring of the small area may be changed according to the elapsed time measured by the time measuring unit 326 and the filling degree of the concrete. For example, it is colorless when the elapsed time is 0 seconds, red when the elapsed time is 0 to 3 seconds, yellow when the elapsed time is 3 to 6 seconds, and 6 to 10 seconds. In that case, it may be green, if the elapsed time is 10 to 15 seconds, it may be blue, and if the elapsed time is 15 seconds or more, it may be black.

The image generation unit 322 may generate a compaction range image I such as a circular shape, a cylindrical shape, or a spherical shape. The compaction range image I is displayed two-dimensionally. The compaction range image I may be displayed three-dimensionally.

<Fourth Embodiment: An example of the operation of the concrete compaction system 100>
Next, an example of the operation of the concrete compaction system 100 according to the fourth embodiment will be described. FIG. 17 is a flowchart showing an example of the operation of the concrete compaction system 100 according to the fourth embodiment.

In an example of the operation of the concrete compaction system 100 according to the fourth embodiment, for example, the above-mentioned acquisition step S21 is performed.

<Calculation step S42>
The calculation step S42 is performed in the same manner as the above-mentioned calculation step S22. The calculation step S42 includes a partition setting step S421.

<Division setting step S421>
The section setting unit 324 divides the construction area into a plurality of small areas in the second coordinate system (section setting step S421).

<Image generation step S43>
Next, the image generation step S43 is performed in the same manner as the image generation step S23 described above. Further, in the image generation step S43, the image generation unit 322 generates an image N of a plurality of small areas set by the partition setting unit 324.

<Display step S44>
FIG. 18 is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the fourth embodiment. Next, the display unit 216 displays the superimposed image K in the same manner as in the image generation step S23. Further, the display unit 216 generates a superposed image K in which the image N of the small area generated in the image generation step S23 is superposed on the captured image J.

<Compacting information generation step S45>
Next, the worker inserts the vibrator body 11 into the fresh concrete. The compaction information generation unit 325 specifies a small area to be compacted based on the three-dimensional coordinate values of the tip portion 11a of the vibrator body 11, and generates compaction information by the vibrator body 11 for the specified small area. (Compacting information generation step S45).

For example, the pull-out detection unit 14 detects that the vibrator body 11 has been inserted into the fresh concrete. The compaction information generation unit 325 operates the time measuring unit 326 based on the detection result of the insertion / removal detection unit 14, and the timing unit 326 measures the elapsed time from the start of vibration application by the vibrator main body 11 in a small area. The timekeeping unit 326 counts the elapsed time when the insertion / removal detection unit 14 detects that the vibrator main body 11 has been inserted into the concrete.

<Image generation step S46>
The image generation unit 322 generates a compaction range image I based on the compaction information, and generates a superposed image K in which the compaction range image is superimposed on the captured image J. As a result, the compaction range image I in which the small area is colored in a predetermined color such as blue is generated. Further, the image generation unit 322 generates a compaction range image I including an image of the elapsed time measured by the timekeeping unit 326.

<Display step S47>
FIG. 19 is a schematic view showing a display unit displaying an superimposed image in which an augmented reality image of a vibrator main body is superimposed on an captured image in the concrete compaction system according to the fourth embodiment. The display unit 216 displays the superimposed image K generated in the image generation step S46. The display unit 216 displays an augmented reality image G of the vibrator main body 11, an image N of a small area, and a superimposed image K obtained by superimposing the compaction range image I on the captured image J. The operator can perform the concrete compaction work while visually recognizing the superimposed image K. In the example of FIG. 19, the small area image N and the compaction range image I are displayed two-dimensionally. The image N of the small area and the image I of the compaction range may be displayed three-dimensionally.

FIG. 20 is a schematic view showing a construction area displayed on the display unit of the management device. Further, the display unit 316 displays an image showing the construction area W. The display unit 316 displays an image N of a small area, a compaction range image I, an image showing the position of the terminal device 2, and the like. The construction manager or the like can manage the compaction status of the concrete while visually recognizing the display unit 316. In addition, the display unit 316 can also display the concrete compaction status of the plurality of terminal devices 2. Therefore, it is possible to collectively manage the concrete compaction status that is progressing at the same time.

The operator performs the compaction work by the vibrator 1 while visually recognizing the display unit 216. The compaction work is performed for a predetermined time, and the compaction information generation unit 325 generates compaction information indicating the completion of compaction based on the elapsed time and the compaction time measured by the timekeeping unit 326. Then, the image generation unit 322 generates a compaction range image I in which a small area is colored in red or the like as a compaction range image I indicating the completion of compaction, for example, based on the compaction information indicating the completion of compaction.

The operator visually recognizes the compaction range image I indicating the completion of compaction, and pulls out the vibrator main body 11 from the concrete. When the pull-out detection unit 14 detects that the vibrator main body 11 has been pulled out from the concrete, the vibrator 1 stops the operation of the vibrator main body 11.

According to the present embodiment, the calculation unit 321 has a section setting unit 324 that divides the construction area W into a plurality of small areas, and the image generation unit 322 is a plurality of small areas set by the section setting unit 324. The image N is generated, and the superimposed image K is generated by superimposing the image N of a small area on the captured image J. As a result, the operator can perform the concrete compaction work while visually recognizing the small area displayed on the display unit 216. Therefore, the operator can insert the vibrator main body 11 into each small area, and the compaction work can be smoothly performed.

According to the present embodiment, the calculation unit 321 is based on the three-dimensional coordinate values of the section setting unit 324 that divides the construction area W into a plurality of small areas and the tip portion 11a of the vibrator body 11, and the vibrator body in the small area. A compaction information generation unit 325 for generating compaction information according to 11 is further provided, and the image generation unit 322 generates a compaction range image I based on the compaction information, and the compaction range image I is captured. The superimposed image K superimposed on J is generated. As a result, the worker can perform the concrete compaction work while visually recognizing the degree of concrete compaction in real time. Therefore, the concrete compaction work can be easily performed.

The concrete deck cutting method, drilling method, and drilling device according to the embodiment of the present invention have been described in detail above, but all of the above-mentioned or illustrated embodiments have been embodied in carrying out the present invention. It merely shows one embodiment. Therefore, the technical scope of the present invention should not be construed in a limited manner by these.

100: Concrete compaction system 1: Vibrator 11: Vibrator body 11a: Tip 12: Connection hose 13: Power source 14: Insertion detection unit 15: Control unit 2: Terminal device 20: Housing 21: Acquisition unit 22: Control Unit 23: Storage unit 24: Output unit 201: CPU
202: ROM
203: RAM
204: Storage unit 205: I / F
206: I / F
207: I / F
208: I / F
209: I / F
210: Internal bus 211: Camera unit 212: Terminal information acquisition unit 213: Position information acquisition device 214: Inertial measurement unit 215: Input unit 216: Display unit 3: Management device 301: CPU
302: ROM
303: RAM
304: Storage unit 307: I / F
308: I / F
309: I / F
310: Internal bus 311: Calculation unit 315: Input unit 316: Display unit 321: Calculation unit 322: Image generation unit 324: Partition setting unit 325: Information generation unit 326: Timekeeping unit 30: Housing 31: Acquisition unit 32: Control Section 33: Storage section 34: Output section 4: Public communication network 6: Mounting jig 61: Mounting section 62: Holding section 63: Adjustment mechanism 64: Anti-vibration material

Claims (8)

A concrete compaction system used for compaction of concrete.
A vibrator having a vibrator body and a connecting hose connected to the vibrator body,
The terminal device attached to the connection hose and
A management device capable of communicating with the terminal device is provided.
The terminal device has at least a camera unit, a terminal information acquisition unit, and a display unit.
The camera unit acquires a captured image of the construction site and obtains it.
The terminal information acquisition unit acquires the three-dimensional coordinate value of the terminal device and the posture information of the terminal device.
The terminal device or the management device
An acquisition unit that acquires the captured image, the three-dimensional coordinate values of the terminal device, the posture information, and the basic information of the vibrator including the shape information of the vibrator body.
An arithmetic unit that calculates the three-dimensional coordinate value of the tip of the vibrator body based on the three-dimensional coordinate value of the terminal device, the attitude information, and the basic information of the vibrator.
An image generation unit that generates an augmented reality image of the vibrator body based on the three-dimensional coordinate values of the tip of the vibrator body, and superimposes the augmented reality image of the vibrator body on the captured image. Have,
The display unit is a concrete compaction system characterized by displaying the superimposed image. The camera unit recognizes an AR marker having a three-dimensional coordinate value of the first coordinate system, and recognizes the AR marker.
The arithmetic unit
A second coordinate system is constructed based on the three-dimensional coordinate values of the first coordinate system of the AR marker at at least one place.
Based on the three-dimensional coordinate values of the first coordinate system of the terminal device, the attitude information, and the basic information of the vibrator, the three-dimensional coordinate values of the second coordinate system at the tip of the vibrator body are calculated.
The concrete compaction system according to claim 1, wherein the image generation unit generates an augmented reality image of the vibrator body based on a three-dimensional coordinate value of a second coordinate system at the tip of the vibrator body. The concrete compaction system according to claim 2, wherein the arithmetic unit constructs a second coordinate system based on three-dimensional coordinate values of the first coordinate system of the AR marker at at least three places. The concrete compaction system according to claim 2 or 3, wherein the AR marker is installed in a formwork in which concrete is placed. The acquisition unit acquires deviation information regarding the deviation between the tip of the actual vibrator body displayed in the superimposed image and the tip of the vibrator body in the augmented reality image.
The concrete compaction system according to any one of claims 1 to 4, wherein the image generation unit generates a new augmented reality image of the vibrator body based on the deviation information. The terminal device or the management device
It has a section setting unit that divides the construction area into multiple small areas.
Claim 1 is characterized in that the image generation unit generates an image of a plurality of small areas set by the partition setting unit, and generates the superimposed image in which the image of the small area is superimposed on the captured image. The concrete compaction system according to any one of 5 to 5. The terminal device or the management device
A section setting unit that divides the construction area into multiple small areas,
A compaction information generation unit that generates compaction information by the vibrator body in the small region based on the three-dimensional coordinate value of the tip portion of the vibrator body is further provided.
The image generation unit is characterized in that it generates a compaction range image based on the compaction information and generates the superimposed image in which the compaction range image is superimposed on the captured image. The concrete compaction system according to any one of the items. A mounting jig for attaching the terminal device to the connecting hose is provided.
The concrete compaction system according to any one of claims 1 to 7, wherein the mounting jig has a vibration-proof material that suppresses vibration of the terminal device.

Images